US7789370B2 - Actuator system - Google Patents
Actuator system Download PDFInfo
- Publication number
- US7789370B2 US7789370B2 US11/587,307 US58730707A US7789370B2 US 7789370 B2 US7789370 B2 US 7789370B2 US 58730707 A US58730707 A US 58730707A US 7789370 B2 US7789370 B2 US 7789370B2
- Authority
- US
- United States
- Prior art keywords
- installation according
- shaft
- motors
- springs
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related, expires
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K26/00—Machines adapted to function as torque motors, i.e. to exert a torque when stalled
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18056—Rotary to or from reciprocating or oscillating
- Y10T74/18272—Planetary gearing and slide
Definitions
- the present invention relates to an actuator system, comprising a shaft, a means arranged to power the shaft, and at least one actuated member actuated by the means to power the shaft.
- the invention also relates to a method for actuating an actuated member by means of a shaft and a means for powering the shaft.
- actuation systems are to be utilized to actuate elements such as valves in a variety of contexts.
- One particular context is in subsea and topside oil and gas installations.
- actuators may be utilized to operate valves linearly, rotary or otherwise.
- the present invention could be used in any context where an electrical actuation system is utilized.
- Other examples can include the chemical industry, pulp and paper industry and sewage treatment plants.
- spring means, as used herein, should be regarded in a wide sense. It might include mechanical, pneumatic as well as hydraulic springs. However, in most cases, a mechanical spring is conceived.
- known electrical actuators used for actuating valves in subsea oil and gas recovery systems are slow, with a delay time interval of about thirty seconds.
- conventional electric motors are used for the purpose of driving a shaft that, in its turn, actuates a valve or the like. In certain situations, for example emergency situations, a more rapid action would be desirable.
- the object of the invention is achieved by means of the actuator system as initially defined, characterized in that said means arranged to power the shaft comprises a plurality of transverse flux motors. Including a plurality of motors can provide the invention with a degree of redundancy.
- the transversal flux motor is “pancake” shaped, thereby requiring less space in the longitudinal direction of the shaft.
- transversal flux motors rotates slowly, has a large torque and low “rotational inertia”. According to preferred embodiments, such a motor may have a rotation speed below about 5 rpm, with a torque on the order of about 20 Nm. Acceleration time from idle to full speed may be on the order of about 0.1 seconds.
- Powering the shaft will mean to rotate the shaft, by means of a motor.
- the system comprises three successively arranged motors.
- Actuator systems should also provide a fail-safe function, guaranteeing a return of an actuated member, such as a valve, to a preset position in the event of a power failure or some other problem.
- a cut cable could interrupt a flow of power to an electric motor of an actuator system.
- the valve should then be returned to a closed position or to an open position in a fail-safe mode. Therefore, according to a preferred embodiment of the invention, the actuator system comprises at least one spring operative to return the system to a preset position upon power failure.
- the at least one spring comprises a spiral spring.
- Such springs are particularly useful both for rotary output, such as a ball valve, and for a linear output, such as for a globe valve.
- the system comprises a plurality of spiral springs operative to return the system to a preset position upon power failure.
- the at least one spring comprises a linear spring.
- Linear springs such as “Bellevue Washers”, which is described in published European patent application 1 333 207, provide a lot of power in a small volume.
- a spring is used for actuators with a linear output. If the actuator system produces a linear output actuator, then a “linear” type spring may be used for the fail-safe action.
- the actuator system comprises a plurality of motors and a plurality of springs, said springs being arranged alternatingly, in an interleaving arrangement, with regard to the motors.
- spiral springs are often preferred, since they are well suited for the purpose of being interleaved between individual motors along a shaft.
- the number of springs may be less than the number of motors.
- the system comprises three motors and two springs, arranged alternatingly along a common shaft.
- the system may comprise a rotary-to-linear converter operative to convert rotary motion of the shaft to linear output, to provide an optional linear output. It may also comprise a planetary gearing arranged between the motors and the rotary-to-linear converter, to compensate for differences in speed between the motor and the requirements of the rotary-to-linear converter. Accordingly, depending on the provision of a rotary-to-linear converter, the system will present a rotary output or a linear output. In case of a linear output, a linear return spring can, and most probably, will be used.
- a control unit may be included in the actuator system to coordinate the motors.
- the control unit may help to ensure that the motors rotate in the same direction and with the same speed.
- the motors, springs and other elements of an actuator system according to the present invention may, preferably, be housed in a waterproof housing, preferably filled with oil.
- the object of the invention is also achieved by means of the method initially defined, characterized in that it comprises the step of operating a plurality of transverse flux motors to power said shaft in order to drive the actuated member in a desired manner.
- the method also comprises the step of actuating the actuated member to a preset position with at least one spring member upon power failure.
- the present invention is particularly useful in subsea environments.
- Some particular applications that the present invention may be utilized within this context can include for fast control valves for, for example, gas/liquid separator control, compressor antisurge control, and pump minimum flow control.
- Fast control valves may also be employed in, for example pressure regulation, level regulation, speed regulation, antisurge regulation, minimum flow regulation, and flow regulation. These represent a few examples where the present invention may, preferably, be utilized.
- FIG. 1 shows an embodiment of an actuator according to the present invention
- FIG. 2 shows a second embodiment of an actuator according to the present invention
- FIG. 3 shows a third embodiment of an actuator according to the present invention
- FIG. 4 shows a fourth embodiment of an actuator according to the present invention.
- FIG. 5 shows an embodiment of a control unit according to the present invention.
- FIG. 1 illustrates one embodiment of an actuator system according to the present invention.
- the embodiment shown in FIG. 1 includes an oil-filled, pressure compensated motor compartment 1 that houses the motors and springs, among other elements.
- the motor compartment includes a remotely operated vehicle (ROV) interface 3 .
- ROV remotely operated vehicle
- This embodiment of an actuator according to the present invention drives a ball or globe valve 5 arranged in a conduit 6 .
- An electronic capsule 7 is connected to the motor compartment through 220 V power interface 9 .
- the electronic capsule also includes a PROFIBUS DP interface 11 operative to receive position commands from a supervisory control system and to report status information back to the supervisory control system.
- PROFIBUS DP is a known instrumentation field bus. Other, corresponding interfaces may alternatively be utilized.
- FIG. 2 illustrates an embodiment of a rotary configuration actuator system according to the present invention.
- This embodiment includes an oil filled motor compartment/housing or capsule 15 .
- the motor capsule includes a remotely operated vehicle (ROV) interface 17 and a remotely operated vehicle (ROV) connector 19 .
- a pressure compensator 21 may be arranged in an opening in a wall of the motor capsule to address pressure differences between the interior of the motor capsule and the exterior environment.
- Three independent motors 23 are arranged on a common shaft 25 .
- Two independent clock springs 27 are alternatingly arranged with the motors 23 .
- a position sensor 29 is included to sense the rotational position of the shaft.
- a planetary gear 31 is connected to the shaft.
- This embodiment includes an interface to 1 ⁇ 4 turn valve 33 .
- FIG. 3 illustrates an embodiment of a linear configuration actuator system according to the present invention.
- This embodiment includes an oil filled motor capsule 35 .
- the motor capsule includes a remotely operated vehicle interface 37 and a remotely operated vehicle connector 39 .
- a pressure compensator 41 is arranged in an opening in a wall of the motor capsule to address pressure differences between the interior of the motor capsule and the exterior environment.
- Three independent motors 43 are arranged on a common shaft 45 .
- Two independent clock springs 47 are alternatingly arranged with the motors.
- a position sensor 49 is included to sense the rotational position of the shaft.
- a planetary gear 51 is connected to the shaft.
- a rotary/linear converter 53 is operatively connected to the shaft to convert rotary motion produced by the motors to linear motion.
- This embodiment includes an interface to a linear acting valve 55 .
- FIG. 4 illustrates an embodiment of another linear configuration actuator system according to the present invention.
- This embodiment includes an oil filled motor capsule 57 .
- the motor capsule includes a remotely operated vehicle interface 59 and a remotely operated vehicle connector 61 .
- a pressure compensator 63 is arranged in an opening in a wall of the motor capsule to address pressure differences between the interior of the motor capsule and the exterior environment.
- Three independent motors 65 are arranged on a common shaft 67 .
- a position sensor 69 is included to sense the rotational position of the shaft.
- a planetary gear 71 is connected to the shaft.
- a rotary/linear converter 73 is operatively connected to the shaft to convert rotary motion produced by the motors to linear motion.
- Such a converter may include a threaded shaft and nut arrangement (see EP 1 333 207).
- a linear spring and latch 75 is arranged on the shaft.
- This embodiment includes an interface to linear acting valve 77 .
- the rotary/linear converter 73 that produces a linear motion, includes torque reaction means (not shown) which, in normal operation, is in an activated condition and provides a torque reaction path to enable the driven member to be reversibly moved between a first and a second position, the driven member being restrained from rotating, but which, in the event of a fault, is in a deactivated condition so that it no longer provides said torque reaction path and the spring 75 can move the driven member to said first position without disengaging the rotary motion means, i.e. the shaft.
- torque reaction means not shown
- the fail safe mechanism does not have to reversely drive the actuator through its relatively complicated mechanism, which includes the motor or motors, the gearbox, and the rotary/linear converter. Any jamming in such parts will, accordingly, not inhibit the operation of the fail-safe mechanism.
- FIG. 5 illustrates an embodiment of a control unit according to the present invention.
- This embodiment of a control unit includes controller electronics 79 , three power supplies 81 , and three power electronics 83 .
- an actuator system includes a plurality of transvers flux motors. Two, three or more motors may be utilized. One embodiment includes six of such motors. The motors may be arranged stacked along a common shaft. However any arrangement, particularly those that permit the additional motors to provide redundant power may be utilized.
- the present invention can also include power electronics and power supplies operatively connected to the motors.
- the actuator system may also include a number of electronics and power supplies to provide a degree of redundancy.
- some embodiments of the invention may include one power electronics and one power supply per motor. According to one example, if four motors are required to provide power to the system, the system could include six motors such that two may fail and still permit the system to operate at full performance.
- the present invention may also include a fail-safe system.
- the fail-safe system may include one or more spring members operative to return the valve or other member being actuated to a preset or safe position.
- the fail-safe or preset position typically is the closed position, but may also be the open position.
Abstract
Description
Claims (19)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/587,307 US7789370B2 (en) | 2004-04-23 | 2005-04-25 | Actuator system |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US56461804P | 2004-04-23 | 2004-04-23 | |
PCT/IB2005/001102 WO2005103540A1 (en) | 2004-04-23 | 2005-04-25 | An actuator system |
US11/587,307 US7789370B2 (en) | 2004-04-23 | 2005-04-25 | Actuator system |
Publications (2)
Publication Number | Publication Date |
---|---|
US20080142748A1 US20080142748A1 (en) | 2008-06-19 |
US7789370B2 true US7789370B2 (en) | 2010-09-07 |
Family
ID=39535654
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/587,307 Expired - Fee Related US7789370B2 (en) | 2004-04-23 | 2005-04-25 | Actuator system |
Country Status (1)
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US (1) | US7789370B2 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090072179A1 (en) * | 2007-06-11 | 2009-03-19 | Swartzentruber David D | Subsea valve actuator apparatus |
US20090230339A1 (en) * | 2006-05-08 | 2009-09-17 | Surpass Industry Co., Ltd. | Valve Control Apparatus and Flow Rate Controller |
US20120210708A1 (en) * | 2006-05-04 | 2012-08-23 | Capstone Metering Llc | Water meter |
US20120305113A1 (en) * | 2009-07-31 | 2012-12-06 | Capstone Metering Llc | Water meter |
US20130068976A1 (en) * | 2009-06-09 | 2013-03-21 | Vincent Esveldt | Valve |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3808895A (en) * | 1973-02-09 | 1974-05-07 | J Fitzwater | Electric fail-safe actuator |
US4114465A (en) * | 1976-12-06 | 1978-09-19 | Vapor Corporation | Modulating failsafe valve actuator using differential gearing |
US4741508A (en) * | 1987-04-13 | 1988-05-03 | Rikuo Fukamachi | Actuator for valve |
GB2198766A (en) | 1986-12-20 | 1988-06-22 | K E International Limited | Electrically controlled valve |
US4757684A (en) * | 1981-04-08 | 1988-07-19 | Wright John J | Fail-safe electric actuator |
US5182498A (en) * | 1991-11-27 | 1993-01-26 | Honeywell Inc. | Spring return rotary actuator |
DE19811073A1 (en) | 1998-03-13 | 1999-09-16 | Blum Gmbh | Cylindrical, multiple phase transversal flux actuator, esp. for use with hexapod machines |
US6431317B1 (en) * | 1999-08-12 | 2002-08-13 | Valvcon Corporation | Rotary electric actuator with a mechanical spring return back-up |
DE10134428A1 (en) | 2001-07-19 | 2003-01-30 | Abb Research Ltd | Valve actuator drive for subsea oil pipeline, is installed on sea bed, with electrical supply, operation and monitoring from above sea level |
US6595487B2 (en) | 2000-05-16 | 2003-07-22 | Kongsberg Offshore A/S | Electric actuator |
EP1333207A2 (en) | 2002-02-01 | 2003-08-06 | ABB Offshore Systems Limited | Linear actuators |
US6995529B2 (en) * | 2001-09-13 | 2006-02-07 | Sibley Lewis B | Flywheel energy storage systems |
-
2005
- 2005-04-25 US US11/587,307 patent/US7789370B2/en not_active Expired - Fee Related
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3808895A (en) * | 1973-02-09 | 1974-05-07 | J Fitzwater | Electric fail-safe actuator |
US4114465A (en) * | 1976-12-06 | 1978-09-19 | Vapor Corporation | Modulating failsafe valve actuator using differential gearing |
US4757684A (en) * | 1981-04-08 | 1988-07-19 | Wright John J | Fail-safe electric actuator |
GB2198766A (en) | 1986-12-20 | 1988-06-22 | K E International Limited | Electrically controlled valve |
US4741508A (en) * | 1987-04-13 | 1988-05-03 | Rikuo Fukamachi | Actuator for valve |
US5182498A (en) * | 1991-11-27 | 1993-01-26 | Honeywell Inc. | Spring return rotary actuator |
DE19811073A1 (en) | 1998-03-13 | 1999-09-16 | Blum Gmbh | Cylindrical, multiple phase transversal flux actuator, esp. for use with hexapod machines |
US6431317B1 (en) * | 1999-08-12 | 2002-08-13 | Valvcon Corporation | Rotary electric actuator with a mechanical spring return back-up |
US6595487B2 (en) | 2000-05-16 | 2003-07-22 | Kongsberg Offshore A/S | Electric actuator |
DE10134428A1 (en) | 2001-07-19 | 2003-01-30 | Abb Research Ltd | Valve actuator drive for subsea oil pipeline, is installed on sea bed, with electrical supply, operation and monitoring from above sea level |
US6995529B2 (en) * | 2001-09-13 | 2006-02-07 | Sibley Lewis B | Flywheel energy storage systems |
EP1333207A2 (en) | 2002-02-01 | 2003-08-06 | ABB Offshore Systems Limited | Linear actuators |
US20030145667A1 (en) | 2002-02-01 | 2003-08-07 | Donald Alistair Ross | Linear actuators |
Non-Patent Citations (2)
Title |
---|
PCT/ISA/210-International Search Report-Sep. 22, 2005. |
PCT/ISA/210—International Search Report—Sep. 22, 2005. |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120210708A1 (en) * | 2006-05-04 | 2012-08-23 | Capstone Metering Llc | Water meter |
US8690117B2 (en) * | 2006-05-04 | 2014-04-08 | Capstone Metering Llc | Water meter |
US20090230339A1 (en) * | 2006-05-08 | 2009-09-17 | Surpass Industry Co., Ltd. | Valve Control Apparatus and Flow Rate Controller |
US8172199B2 (en) * | 2006-05-08 | 2012-05-08 | Surpass Industry Co., Inc. | Valve control apparatus and flow rate controller |
US20090072179A1 (en) * | 2007-06-11 | 2009-03-19 | Swartzentruber David D | Subsea valve actuator apparatus |
US8087424B2 (en) * | 2007-06-11 | 2012-01-03 | David D Swartzentruber | Subsea valve actuator apparatus |
US20130068976A1 (en) * | 2009-06-09 | 2013-03-21 | Vincent Esveldt | Valve |
US8973600B2 (en) * | 2009-06-09 | 2015-03-10 | Mokveld Valves B. V. | Valve |
US20120305113A1 (en) * | 2009-07-31 | 2012-12-06 | Capstone Metering Llc | Water meter |
US8602384B2 (en) * | 2009-07-31 | 2013-12-10 | Capstone Metering Llc | Water meter |
Also Published As
Publication number | Publication date |
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US20080142748A1 (en) | 2008-06-19 |
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Date | Code | Title | Description |
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AS | Assignment |
Owner name: VETCO GRAY SCANDINAVIA AS, NORWAY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:VETCO AIBEL AS;REEL/FRAME:019055/0021 Effective date: 20070214 Owner name: VETCO GRAY SCANDINAVIA AS,NORWAY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:VETCO AIBEL AS;REEL/FRAME:019055/0021 Effective date: 20070214 |
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Owner name: VETCO AIBEL AS, NORWAY Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ERIKSSON, KLAS;REEL/FRAME:019852/0080 Effective date: 20061025 |
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Effective date: 20180907 |